/*
 * @Author: Mcfly
 * @Date: 2021-07-25 20:36:33
 * @LastEditTime: 2021-07-25 21:14:09
 * @LastEditors: Mcfly
 * @Description: 
 * @FilePath: \FTTfly\Ctrl\Height.h
 * 本人github:https://github.com/McflyWZX
 */
#ifndef __HEIGHT_H_
#define __HEIGHT_H_

#include "stdint.h"
#include "Atti.h"

typedef struct
{
    float h;
    float azLast;
    float HTofLast;
    float speedTof;
	float speedTofLast;
    float speed;
    float deltaT_Az;
    float deltaT_Tof;
} Height;

Height *Height_Init(void);
void Height_UpdateFrame(Height *height, Atti *nowAtti);
//void Height_Clear(Height *height);
void Height_UpdateTofSpeed(Height *height, float tofHeight, float realDeltaTime);

#endif
